I used to do this as well except we were transitioning from ship mounted multibeams to AUVs carrying multibeams and subsurface arrays. Simrad EM3000's IIRC. The

I used to do this as well except we were transitioning from ship mounted multibeams to AUVs carrying multibeams and subsurface arrays. Simrad EM3000's IIRC. The difference in the amount of necessary data processing was quite a bit. Just the noise from the ship could be quite distorting and then the sea life would hear you and come try to play.